Discover indraneelpatil/abb_1410_moveit_config Open Source project

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C++
Created over 5 years ago
Updated over 5 years ago

indraneelpatil

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This is the first implementation of ROS compatible files for abb 1410 Welding Robot. The URDF file was initially created using the Solidworks to URDF exporter. Then using the moveit setup assistant the moveit package was created and OpenRAVE is also used to find the ikfast Inverse Kinematics solver for the manipulator.

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In this project we have used the Point Cloud Library/ Depth Image Processing and a 5 axis robotic manipulator to implement multiple systems like hand tracking, autonomous grasping and 3D Weld Seam tracking

C++

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This project consists of C++ implementations of a 3D Rapidly Exploring Random Tree and three other extensions called RRT*, Execution Extended RRT and Synchronised Greedy Biased RRT. It also includes a heuristically guided RRT* with biased sampling towards relevant bottleneck points predicted by a 3D CNN(modified VoxNet in Tensorflow).

C++

GraphPlanning

Global planning for robotics based on graph search algorithms

C++

Team-MAVERICK-Autonomous-Systems

A ROS based autonomous self driving car capable of teleop_control, lane following, obstacle detection and rtabmapping the environment in real time

Python